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fix(failsafe): always warn about new less severe failsafes as warning

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This commit is contained in:
Matthias Grob
2026-05-22 14:55:46 +02:00
parent 8c91d25eab
commit 909055161c
2 changed files with 8 additions and 7 deletions
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13
src/modules/commander/failsafe/framework.cpp
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@@ -89,12 +89,15 @@ uint8_t FailsafeBase::update(const hrt_abstime &time_us, const State &state, boo
updateStartDelay(time_us - _last_update, action_state.delayed_action != Action::None);
updateFailsafeDeferState(time_us, action_state.failsafe_deferred);
// Notify user if the action is worse than before, or a new warn action got added
if (action_state.action > _selected_action || (action_state.action == Action::Warn && _notification_required)) {
// Notify about escalation, or about any new subsumed condition as an informational warning
if (action_state.action > _selected_action) {
notifyUser(state.user_intended_mode, action_state.action, action_state.delayed_action, action_state.cause);
} else if (_pending_notification_cause != Cause::Count) {
notifyUser(state.user_intended_mode, Action::Warn, Action::None, _pending_notification_cause);
}
_notification_required = false;
_pending_notification_cause = Cause::Count;
_last_user_intended_mode = modifyUserIntendedMode(_selected_action, action_state.action,
action_state.updated_user_intended_mode);
@@ -361,9 +364,7 @@ bool FailsafeBase::checkFailsafe(int caller_id, bool last_state_failure, bool cu
}
}
if (options.action == Action::Warn) {
_notification_required = true;
}
_pending_notification_cause = options.cause;
if (options.action >= Action::Hold) { // If not a Fallback
_user_takeover_active = false; // Clear takeover

2
src/modules/commander/failsafe/framework.h
View File

@@ -275,7 +275,7 @@ private:
failsafe_flags_s _last_status_flags{};
Action _selected_action{Action::None};
bool _user_takeover_active{false};
bool _notification_required{false};
Cause _pending_notification_cause{Cause::Count};
bool _defer_failsafes{false};
hrt_abstime _defer_timeout{0};